Implementation of Equation specific to locked joint. More...
#include <hpp/core/locked-joint.hh>
Public Member Functions | |
std::size_t | rankInConfiguration () const |
Get index of locked degree of freedom in robot configuration vector. More... | |
std::size_t | rankInVelocity () const |
Get index of locked degree of freedom in robot velocity vector. More... | |
std::size_t | size () const |
Get the configuration size of the joint. More... | |
std::size_t | numberDof () const |
Get number of degrees of freedom of the joint. More... | |
vectorIn_t | value () const |
Get the value of the locked joint. More... | |
void | value (vectorIn_t value) |
Set the value of the locked joint. More... | |
void | rightHandSideFromConfig (ConfigurationIn_t config) |
Set the value of the locked joint from a configuration. More... | |
bool | isSatisfied (ConfigurationIn_t config) |
Check whether a configuration statisfies the constraint. More... | |
const std::string & | jointName () const |
Return the joint name. More... | |
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void | rightHandSide (vectorIn_t rhs) |
Set the right hand side of the equation. More... | |
vectorIn_t | rightHandSide () const |
Return the right hand side of the equation. More... | |
size_type | rhsSize () const |
Return the size of the right hand side constraint. More... | |
const ComparisonTypePtr_t & | comparisonType () const |
Return the ComparisonType. More... | |
Static Public Member Functions | |
static LockedJointPtr_t | create (const JointPtr_t &joint, vectorIn_t value, ComparisonTypePtr_t comp=ComparisonType::createDefault()) |
Return shared pointer to new object. More... | |
Protected Member Functions | |
LockedJoint (const JointPtr_t &joint, vectorIn_t value, ComparisonTypePtr_t comp=ComparisonType::createDefault()) | |
Constructor. More... | |
void | init (const LockedJointPtr_t &self) |
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Equation (const ComparisonTypePtr_t &comp, vectorIn_t rhs) | |
vectorOut_t | nonConstRightHandSide () |
Return the right hand side of the equation. More... | |
Implementation of Equation specific to locked joint.
The underlying equation is . The right hand side of the equation is also called value.
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protected |
Constructor.
joint | joint that is locked, |
value | of the constant joint config, |
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static |
Return shared pointer to new object.
joint | joint that is locked, |
value | of the constant joint config, |
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protected |
bool hpp::core::LockedJoint::isSatisfied | ( | ConfigurationIn_t | config | ) |
Check whether a configuration statisfies the constraint.
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inline |
Return the joint name.
References hpp::core::ComparisonType::createDefault().
std::size_t hpp::core::LockedJoint::numberDof | ( | ) | const |
Get number of degrees of freedom of the joint.
std::size_t hpp::core::LockedJoint::rankInConfiguration | ( | ) | const |
Get index of locked degree of freedom in robot configuration vector.
std::size_t hpp::core::LockedJoint::rankInVelocity | ( | ) | const |
Get index of locked degree of freedom in robot velocity vector.
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virtual |
Set the value of the locked joint from a configuration.
Implements hpp::core::Equation.
std::size_t hpp::core::LockedJoint::size | ( | ) | const |
Get the configuration size of the joint.
vectorIn_t hpp::core::LockedJoint::value | ( | ) | const |
Get the value of the locked joint.
void hpp::core::LockedJoint::value | ( | vectorIn_t | value | ) |
Set the value of the locked joint.